This document describes research into using three disc-shaped robots to capture a convex object in the plane. It presents the problem, assumptions made, and provides examples of initial configurations where the object can escape and where it is immobilized. An algorithm is described to compute the "capture region" - all positions for the third robot that prevent the object from escaping. Both exact and approximate algorithms are presented and directions for future work are discussed.
Homotopic Frechet Distance Between Curvesshripadthite
We define a generalization to arbitrary metric spaces of the classical Frechet distance between curves and give a polynomial-time algorithm to compute this so-called homotopic Frechet distance between polygonal curves in the plane with obstacles.
2024 State of Marketing Report – by HubspotMarius Sescu
https://www.hubspot.com/state-of-marketing
· Scaling relationships and proving ROI
· Social media is the place for search, sales, and service
· Authentic influencer partnerships fuel brand growth
· The strongest connections happen via call, click, chat, and camera.
· Time saved with AI leads to more creative work
· Seeking: A single source of truth
· TLDR; Get on social, try AI, and align your systems.
· More human marketing, powered by robots
ChatGPT is a revolutionary addition to the world since its introduction in 2022. A big shift in the sector of information gathering and processing happened because of this chatbot. What is the story of ChatGPT? How is the bot responding to prompts and generating contents? Swipe through these slides prepared by Expeed Software, a web development company regarding the development and technical intricacies of ChatGPT!
Homotopic Frechet Distance Between Curvesshripadthite
We define a generalization to arbitrary metric spaces of the classical Frechet distance between curves and give a polynomial-time algorithm to compute this so-called homotopic Frechet distance between polygonal curves in the plane with obstacles.
2024 State of Marketing Report – by HubspotMarius Sescu
https://www.hubspot.com/state-of-marketing
· Scaling relationships and proving ROI
· Social media is the place for search, sales, and service
· Authentic influencer partnerships fuel brand growth
· The strongest connections happen via call, click, chat, and camera.
· Time saved with AI leads to more creative work
· Seeking: A single source of truth
· TLDR; Get on social, try AI, and align your systems.
· More human marketing, powered by robots
ChatGPT is a revolutionary addition to the world since its introduction in 2022. A big shift in the sector of information gathering and processing happened because of this chatbot. What is the story of ChatGPT? How is the bot responding to prompts and generating contents? Swipe through these slides prepared by Expeed Software, a web development company regarding the development and technical intricacies of ChatGPT!
The simplified electron and muon model, Oscillating Spacetime: The Foundation...RitikBhardwaj56
Discover the Simplified Electron and Muon Model: A New Wave-Based Approach to Understanding Particles delves into a groundbreaking theory that presents electrons and muons as rotating soliton waves within oscillating spacetime. Geared towards students, researchers, and science buffs, this book breaks down complex ideas into simple explanations. It covers topics such as electron waves, temporal dynamics, and the implications of this model on particle physics. With clear illustrations and easy-to-follow explanations, readers will gain a new outlook on the universe's fundamental nature.
A workshop hosted by the South African Journal of Science aimed at postgraduate students and early career researchers with little or no experience in writing and publishing journal articles.
June 3, 2024 Anti-Semitism Letter Sent to MIT President Kornbluth and MIT Cor...Levi Shapiro
Letter from the Congress of the United States regarding Anti-Semitism sent June 3rd to MIT President Sally Kornbluth, MIT Corp Chair, Mark Gorenberg
Dear Dr. Kornbluth and Mr. Gorenberg,
The US House of Representatives is deeply concerned by ongoing and pervasive acts of antisemitic
harassment and intimidation at the Massachusetts Institute of Technology (MIT). Failing to act decisively to ensure a safe learning environment for all students would be a grave dereliction of your responsibilities as President of MIT and Chair of the MIT Corporation.
This Congress will not stand idly by and allow an environment hostile to Jewish students to persist. The House believes that your institution is in violation of Title VI of the Civil Rights Act, and the inability or
unwillingness to rectify this violation through action requires accountability.
Postsecondary education is a unique opportunity for students to learn and have their ideas and beliefs challenged. However, universities receiving hundreds of millions of federal funds annually have denied
students that opportunity and have been hijacked to become venues for the promotion of terrorism, antisemitic harassment and intimidation, unlawful encampments, and in some cases, assaults and riots.
The House of Representatives will not countenance the use of federal funds to indoctrinate students into hateful, antisemitic, anti-American supporters of terrorism. Investigations into campus antisemitism by the Committee on Education and the Workforce and the Committee on Ways and Means have been expanded into a Congress-wide probe across all relevant jurisdictions to address this national crisis. The undersigned Committees will conduct oversight into the use of federal funds at MIT and its learning environment under authorities granted to each Committee.
• The Committee on Education and the Workforce has been investigating your institution since December 7, 2023. The Committee has broad jurisdiction over postsecondary education, including its compliance with Title VI of the Civil Rights Act, campus safety concerns over disruptions to the learning environment, and the awarding of federal student aid under the Higher Education Act.
• The Committee on Oversight and Accountability is investigating the sources of funding and other support flowing to groups espousing pro-Hamas propaganda and engaged in antisemitic harassment and intimidation of students. The Committee on Oversight and Accountability is the principal oversight committee of the US House of Representatives and has broad authority to investigate “any matter” at “any time” under House Rule X.
• The Committee on Ways and Means has been investigating several universities since November 15, 2023, when the Committee held a hearing entitled From Ivory Towers to Dark Corners: Investigating the Nexus Between Antisemitism, Tax-Exempt Universities, and Terror Financing. The Committee followed the hearing with letters to those institutions on January 10, 202
Acetabularia Information For Class 9 .docxvaibhavrinwa19
Acetabularia acetabulum is a single-celled green alga that in its vegetative state is morphologically differentiated into a basal rhizoid and an axially elongated stalk, which bears whorls of branching hairs. The single diploid nucleus resides in the rhizoid.
This slide is special for master students (MIBS & MIFB) in UUM. Also useful for readers who are interested in the topic of contemporary Islamic banking.
MATATAG CURRICULUM: ASSESSING THE READINESS OF ELEM. PUBLIC SCHOOL TEACHERS I...NelTorrente
In this research, it concludes that while the readiness of teachers in Caloocan City to implement the MATATAG Curriculum is generally positive, targeted efforts in professional development, resource distribution, support networks, and comprehensive preparation can address the existing gaps and ensure successful curriculum implementation.
Exploiting Artificial Intelligence for Empowering Researchers and Faculty, In...Dr. Vinod Kumar Kanvaria
Exploiting Artificial Intelligence for Empowering Researchers and Faculty,
International FDP on Fundamentals of Research in Social Sciences
at Integral University, Lucknow, 06.06.2024
By Dr. Vinod Kumar Kanvaria
Normal Labour/ Stages of Labour/ Mechanism of LabourWasim Ak
Normal labor is also termed spontaneous labor, defined as the natural physiological process through which the fetus, placenta, and membranes are expelled from the uterus through the birth canal at term (37 to 42 weeks
Thinking of getting a dog? Be aware that breeds like Pit Bulls, Rottweilers, and German Shepherds can be loyal and dangerous. Proper training and socialization are crucial to preventing aggressive behaviors. Ensure safety by understanding their needs and always supervising interactions. Stay safe, and enjoy your furry friends!
This presentation includes basic of PCOS their pathology and treatment and also Ayurveda correlation of PCOS and Ayurvedic line of treatment mentioned in classics.
How to Build a Module in Odoo 17 Using the Scaffold MethodCeline George
Odoo provides an option for creating a module by using a single line command. By using this command the user can make a whole structure of a module. It is very easy for a beginner to make a module. There is no need to make each file manually. This slide will show how to create a module using the scaffold method.
Executive Directors Chat Leveraging AI for Diversity, Equity, and InclusionTechSoup
Let’s explore the intersection of technology and equity in the final session of our DEI series. Discover how AI tools, like ChatGPT, can be used to support and enhance your nonprofit's DEI initiatives. Participants will gain insights into practical AI applications and get tips for leveraging technology to advance their DEI goals.
Product Design Trends in 2024 | Teenage EngineeringsPixeldarts
The realm of product design is a constantly changing environment where technology and style intersect. Every year introduces fresh challenges and exciting trends that mold the future of this captivating art form. In this piece, we delve into the significant trends set to influence the look and functionality of product design in the year 2024.
How Race, Age and Gender Shape Attitudes Towards Mental HealthThinkNow
Mental health has been in the news quite a bit lately. Dozens of U.S. states are currently suing Meta for contributing to the youth mental health crisis by inserting addictive features into their products, while the U.S. Surgeon General is touring the nation to bring awareness to the growing epidemic of loneliness and isolation. The country has endured periods of low national morale, such as in the 1970s when high inflation and the energy crisis worsened public sentiment following the Vietnam War. The current mood, however, feels different. Gallup recently reported that national mental health is at an all-time low, with few bright spots to lift spirits.
To better understand how Americans are feeling and their attitudes towards mental health in general, ThinkNow conducted a nationally representative quantitative survey of 1,500 respondents and found some interesting differences among ethnic, age and gender groups.
Technology
For example, 52% agree that technology and social media have a negative impact on mental health, but when broken out by race, 61% of Whites felt technology had a negative effect, and only 48% of Hispanics thought it did.
While technology has helped us keep in touch with friends and family in faraway places, it appears to have degraded our ability to connect in person. Staying connected online is a double-edged sword since the same news feed that brings us pictures of the grandkids and fluffy kittens also feeds us news about the wars in Israel and Ukraine, the dysfunction in Washington, the latest mass shooting and the climate crisis.
Hispanics may have a built-in defense against the isolation technology breeds, owing to their large, multigenerational households, strong social support systems, and tendency to use social media to stay connected with relatives abroad.
Age and Gender
When asked how individuals rate their mental health, men rate it higher than women by 11 percentage points, and Baby Boomers rank it highest at 83%, saying it’s good or excellent vs. 57% of Gen Z saying the same.
Gen Z spends the most amount of time on social media, so the notion that social media negatively affects mental health appears to be correlated. Unfortunately, Gen Z is also the generation that’s least comfortable discussing mental health concerns with healthcare professionals. Only 40% of them state they’re comfortable discussing their issues with a professional compared to 60% of Millennials and 65% of Boomers.
Race Affects Attitudes
As seen in previous research conducted by ThinkNow, Asian Americans lag other groups when it comes to awareness of mental health issues. Twenty-four percent of Asian Americans believe that having a mental health issue is a sign of weakness compared to the 16% average for all groups. Asians are also considerably less likely to be aware of mental health services in their communities (42% vs. 55%) and most likely to seek out information on social media (51% vs. 35%).
The simplified electron and muon model, Oscillating Spacetime: The Foundation...RitikBhardwaj56
Discover the Simplified Electron and Muon Model: A New Wave-Based Approach to Understanding Particles delves into a groundbreaking theory that presents electrons and muons as rotating soliton waves within oscillating spacetime. Geared towards students, researchers, and science buffs, this book breaks down complex ideas into simple explanations. It covers topics such as electron waves, temporal dynamics, and the implications of this model on particle physics. With clear illustrations and easy-to-follow explanations, readers will gain a new outlook on the universe's fundamental nature.
A workshop hosted by the South African Journal of Science aimed at postgraduate students and early career researchers with little or no experience in writing and publishing journal articles.
June 3, 2024 Anti-Semitism Letter Sent to MIT President Kornbluth and MIT Cor...Levi Shapiro
Letter from the Congress of the United States regarding Anti-Semitism sent June 3rd to MIT President Sally Kornbluth, MIT Corp Chair, Mark Gorenberg
Dear Dr. Kornbluth and Mr. Gorenberg,
The US House of Representatives is deeply concerned by ongoing and pervasive acts of antisemitic
harassment and intimidation at the Massachusetts Institute of Technology (MIT). Failing to act decisively to ensure a safe learning environment for all students would be a grave dereliction of your responsibilities as President of MIT and Chair of the MIT Corporation.
This Congress will not stand idly by and allow an environment hostile to Jewish students to persist. The House believes that your institution is in violation of Title VI of the Civil Rights Act, and the inability or
unwillingness to rectify this violation through action requires accountability.
Postsecondary education is a unique opportunity for students to learn and have their ideas and beliefs challenged. However, universities receiving hundreds of millions of federal funds annually have denied
students that opportunity and have been hijacked to become venues for the promotion of terrorism, antisemitic harassment and intimidation, unlawful encampments, and in some cases, assaults and riots.
The House of Representatives will not countenance the use of federal funds to indoctrinate students into hateful, antisemitic, anti-American supporters of terrorism. Investigations into campus antisemitism by the Committee on Education and the Workforce and the Committee on Ways and Means have been expanded into a Congress-wide probe across all relevant jurisdictions to address this national crisis. The undersigned Committees will conduct oversight into the use of federal funds at MIT and its learning environment under authorities granted to each Committee.
• The Committee on Education and the Workforce has been investigating your institution since December 7, 2023. The Committee has broad jurisdiction over postsecondary education, including its compliance with Title VI of the Civil Rights Act, campus safety concerns over disruptions to the learning environment, and the awarding of federal student aid under the Higher Education Act.
• The Committee on Oversight and Accountability is investigating the sources of funding and other support flowing to groups espousing pro-Hamas propaganda and engaged in antisemitic harassment and intimidation of students. The Committee on Oversight and Accountability is the principal oversight committee of the US House of Representatives and has broad authority to investigate “any matter” at “any time” under House Rule X.
• The Committee on Ways and Means has been investigating several universities since November 15, 2023, when the Committee held a hearing entitled From Ivory Towers to Dark Corners: Investigating the Nexus Between Antisemitism, Tax-Exempt Universities, and Terror Financing. The Committee followed the hearing with letters to those institutions on January 10, 202
Acetabularia Information For Class 9 .docxvaibhavrinwa19
Acetabularia acetabulum is a single-celled green alga that in its vegetative state is morphologically differentiated into a basal rhizoid and an axially elongated stalk, which bears whorls of branching hairs. The single diploid nucleus resides in the rhizoid.
This slide is special for master students (MIBS & MIFB) in UUM. Also useful for readers who are interested in the topic of contemporary Islamic banking.
MATATAG CURRICULUM: ASSESSING THE READINESS OF ELEM. PUBLIC SCHOOL TEACHERS I...NelTorrente
In this research, it concludes that while the readiness of teachers in Caloocan City to implement the MATATAG Curriculum is generally positive, targeted efforts in professional development, resource distribution, support networks, and comprehensive preparation can address the existing gaps and ensure successful curriculum implementation.
Exploiting Artificial Intelligence for Empowering Researchers and Faculty, In...Dr. Vinod Kumar Kanvaria
Exploiting Artificial Intelligence for Empowering Researchers and Faculty,
International FDP on Fundamentals of Research in Social Sciences
at Integral University, Lucknow, 06.06.2024
By Dr. Vinod Kumar Kanvaria
Normal Labour/ Stages of Labour/ Mechanism of LabourWasim Ak
Normal labor is also termed spontaneous labor, defined as the natural physiological process through which the fetus, placenta, and membranes are expelled from the uterus through the birth canal at term (37 to 42 weeks
Thinking of getting a dog? Be aware that breeds like Pit Bulls, Rottweilers, and German Shepherds can be loyal and dangerous. Proper training and socialization are crucial to preventing aggressive behaviors. Ensure safety by understanding their needs and always supervising interactions. Stay safe, and enjoy your furry friends!
This presentation includes basic of PCOS their pathology and treatment and also Ayurveda correlation of PCOS and Ayurvedic line of treatment mentioned in classics.
How to Build a Module in Odoo 17 Using the Scaffold MethodCeline George
Odoo provides an option for creating a module by using a single line command. By using this command the user can make a whole structure of a module. It is very easy for a beginner to make a module. There is no need to make each file manually. This slide will show how to create a module using the scaffold method.
Executive Directors Chat Leveraging AI for Diversity, Equity, and InclusionTechSoup
Let’s explore the intersection of technology and equity in the final session of our DEI series. Discover how AI tools, like ChatGPT, can be used to support and enhance your nonprofit's DEI initiatives. Participants will gain insights into practical AI applications and get tips for leveraging technology to advance their DEI goals.
Product Design Trends in 2024 | Teenage EngineeringsPixeldarts
The realm of product design is a constantly changing environment where technology and style intersect. Every year introduces fresh challenges and exciting trends that mold the future of this captivating art form. In this piece, we delve into the significant trends set to influence the look and functionality of product design in the year 2024.
How Race, Age and Gender Shape Attitudes Towards Mental HealthThinkNow
Mental health has been in the news quite a bit lately. Dozens of U.S. states are currently suing Meta for contributing to the youth mental health crisis by inserting addictive features into their products, while the U.S. Surgeon General is touring the nation to bring awareness to the growing epidemic of loneliness and isolation. The country has endured periods of low national morale, such as in the 1970s when high inflation and the energy crisis worsened public sentiment following the Vietnam War. The current mood, however, feels different. Gallup recently reported that national mental health is at an all-time low, with few bright spots to lift spirits.
To better understand how Americans are feeling and their attitudes towards mental health in general, ThinkNow conducted a nationally representative quantitative survey of 1,500 respondents and found some interesting differences among ethnic, age and gender groups.
Technology
For example, 52% agree that technology and social media have a negative impact on mental health, but when broken out by race, 61% of Whites felt technology had a negative effect, and only 48% of Hispanics thought it did.
While technology has helped us keep in touch with friends and family in faraway places, it appears to have degraded our ability to connect in person. Staying connected online is a double-edged sword since the same news feed that brings us pictures of the grandkids and fluffy kittens also feeds us news about the wars in Israel and Ukraine, the dysfunction in Washington, the latest mass shooting and the climate crisis.
Hispanics may have a built-in defense against the isolation technology breeds, owing to their large, multigenerational households, strong social support systems, and tendency to use social media to stay connected with relatives abroad.
Age and Gender
When asked how individuals rate their mental health, men rate it higher than women by 11 percentage points, and Baby Boomers rank it highest at 83%, saying it’s good or excellent vs. 57% of Gen Z saying the same.
Gen Z spends the most amount of time on social media, so the notion that social media negatively affects mental health appears to be correlated. Unfortunately, Gen Z is also the generation that’s least comfortable discussing mental health concerns with healthcare professionals. Only 40% of them state they’re comfortable discussing their issues with a professional compared to 60% of Millennials and 65% of Boomers.
Race Affects Attitudes
As seen in previous research conducted by ThinkNow, Asian Americans lag other groups when it comes to awareness of mental health issues. Twenty-four percent of Asian Americans believe that having a mental health issue is a sign of weakness compared to the 16% average for all groups. Asians are also considerably less likely to be aware of mental health services in their communities (42% vs. 55%) and most likely to seek out information on social media (51% vs. 35%).
AI Trends in Creative Operations 2024 by Artwork Flow.pdfmarketingartwork
This article is all about what AI trends will emerge in the field of creative operations in 2024. All the marketers and brand builders should be aware of these trends for their further use and save themselves some time!
A report by thenetworkone and Kurio.
The contributing experts and agencies are (in an alphabetical order): Sylwia Rytel, Social Media Supervisor, 180heartbeats + JUNG v MATT (PL), Sharlene Jenner, Vice President - Director of Engagement Strategy, Abelson Taylor (USA), Alex Casanovas, Digital Director, Atrevia (ES), Dora Beilin, Senior Social Strategist, Barrett Hoffher (USA), Min Seo, Campaign Director, Brand New Agency (KR), Deshé M. Gully, Associate Strategist, Day One Agency (USA), Francesca Trevisan, Strategist, Different (IT), Trevor Crossman, CX and Digital Transformation Director; Olivia Hussey, Strategic Planner; Simi Srinarula, Social Media Manager, The Hallway (AUS), James Hebbert, Managing Director, Hylink (CN / UK), Mundy Álvarez, Planning Director; Pedro Rojas, Social Media Manager; Pancho González, CCO, Inbrax (CH), Oana Oprea, Head of Digital Planning, Jam Session Agency (RO), Amy Bottrill, Social Account Director, Launch (UK), Gaby Arriaga, Founder, Leonardo1452 (MX), Shantesh S Row, Creative Director, Liwa (UAE), Rajesh Mehta, Chief Strategy Officer; Dhruv Gaur, Digital Planning Lead; Leonie Mergulhao, Account Supervisor - Social Media & PR, Medulla (IN), Aurelija Plioplytė, Head of Digital & Social, Not Perfect (LI), Daiana Khaidargaliyeva, Account Manager, Osaka Labs (UK / USA), Stefanie Söhnchen, Vice President Digital, PIABO Communications (DE), Elisabeth Winiartati, Managing Consultant, Head of Global Integrated Communications; Lydia Aprina, Account Manager, Integrated Marketing and Communications; Nita Prabowo, Account Manager, Integrated Marketing and Communications; Okhi, Web Developer, PNTR Group (ID), Kei Obusan, Insights Director; Daffi Ranandi, Insights Manager, Radarr (SG), Gautam Reghunath, Co-founder & CEO, Talented (IN), Donagh Humphreys, Head of Social and Digital Innovation, THINKHOUSE (IRE), Sarah Yim, Strategy Director, Zulu Alpha Kilo (CA).
Trends In Paid Search: Navigating The Digital Landscape In 2024Search Engine Journal
The search marketing landscape is evolving rapidly with new technologies, and professionals, like you, rely on innovative paid search strategies to meet changing demands.
It’s important that you’re ready to implement new strategies in 2024.
Check this out and learn the top trends in paid search advertising that are expected to gain traction, so you can drive higher ROI more efficiently in 2024.
You’ll learn:
- The latest trends in AI and automation, and what this means for an evolving paid search ecosystem.
- New developments in privacy and data regulation.
- Emerging ad formats that are expected to make an impact next year.
Watch Sreekant Lanka from iQuanti and Irina Klein from OneMain Financial as they dive into the future of paid search and explore the trends, strategies, and technologies that will shape the search marketing landscape.
If you’re looking to assess your paid search strategy and design an industry-aligned plan for 2024, then this webinar is for you.
5 Public speaking tips from TED - Visualized summarySpeakerHub
From their humble beginnings in 1984, TED has grown into the world’s most powerful amplifier for speakers and thought-leaders to share their ideas. They have over 2,400 filmed talks (not including the 30,000+ TEDx videos) freely available online, and have hosted over 17,500 events around the world.
With over one billion views in a year, it’s no wonder that so many speakers are looking to TED for ideas on how to share their message more effectively.
The article “5 Public-Speaking Tips TED Gives Its Speakers”, by Carmine Gallo for Forbes, gives speakers five practical ways to connect with their audience, and effectively share their ideas on stage.
Whether you are gearing up to get on a TED stage yourself, or just want to master the skills that so many of their speakers possess, these tips and quotes from Chris Anderson, the TED Talks Curator, will encourage you to make the most impactful impression on your audience.
See the full article and more summaries like this on SpeakerHub here: https://speakerhub.com/blog/5-presentation-tips-ted-gives-its-speakers
See the original article on Forbes here:
http://www.forbes.com/forbes/welcome/?toURL=http://www.forbes.com/sites/carminegallo/2016/05/06/5-public-speaking-tips-ted-gives-its-speakers/&refURL=&referrer=#5c07a8221d9b
ChatGPT and the Future of Work - Clark Boyd Clark Boyd
Everyone is in agreement that ChatGPT (and other generative AI tools) will shape the future of work. Yet there is little consensus on exactly how, when, and to what extent this technology will change our world.
Businesses that extract maximum value from ChatGPT will use it as a collaborative tool for everything from brainstorming to technical maintenance.
For individuals, now is the time to pinpoint the skills the future professional will need to thrive in the AI age.
Check out this presentation to understand what ChatGPT is, how it will shape the future of work, and how you can prepare to take advantage.
A brief introduction to DataScience with explaining of the concepts, algorithms, machine learning, supervised and unsupervised learning, clustering, statistics, data preprocessing, real-world applications etc.
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The six step guide to practical project managementMindGenius
The six step guide to practical project management
If you think managing projects is too difficult, think again.
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“If you’re looking for some real-world guidance, then The Six Step Guide to Practical Project Management will help.”
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Unlocking the Power of ChatGPT and AI in Testing - A Real-World Look, present...Applitools
During this webinar, Anand Bagmar demonstrates how AI tools such as ChatGPT can be applied to various stages of the software development life cycle (SDLC) using an eCommerce application case study. Find the on-demand recording and more info at https://applitools.info/b59
Key takeaways:
• Learn how to use ChatGPT to add AI power to your testing and test automation
• Understand the limitations of the technology and where human expertise is crucial
• Gain insight into different AI-based tools
• Adopt AI-based tools to stay relevant and optimize work for developers and testers
* ChatGPT and OpenAI belong to OpenAI, L.L.C.
1. Capturing a Convex Object with Three Discs
Jeff Erickson Shripad Thite Fred Rothganger Jean Ponce
jeffe, thite, rothgang, jponce @uiuc.edu
Department of Computer Science
University of Illinois at Urbana-Champaign
Urbana, Illinois 61801, USA
http://www-cvr.ai.uiuc.edu
September 17, 2003 @ ICRA (Taipei, Taiwan)
2. 2
Problem
b
a
P
Input:
– an arbitrary convex object in the plane
– three disc-shaped robots— , , and
Given:
– fixed positions of robots and
– position of in contact with and in its initial orientation
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
3. 3
Problem
b
a
P
c
Question: Where should robot be placed to capture ?
Capture region the set of all positions (if any) of that
prevent from escaping
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
4. 4
Problem
can perform arbitrary rigid motions
The interior of cannot intersect any robot
Capture prevent from escaping to infinity
Capture grasp (immobilize)
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
5. 5
Example: Initial confi guration
b
a
P
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
6. 6
Example: Escape through
b
a
P
c
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
7. 7
Example: Immobilized
b
a
P
c
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
8. 8
Example: Turning Counter-Clockwise
b
a
P
c
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
9. 9
Example: Escape through
b
a
P
c
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
10. 10
No Escape
a b
P
c
can spin around without being able to escape
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
11. 11
Motivation
http://www-cvr.ai.uiuc.edu/ponce grp/demo/robots/
Robots may be mobile platforms, fingertips of a gripper, pins
of a parts feeder.
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
12. 12
Motivation
Sensorless manipulation:
in-hand manipulation
mobile robot motion planning
regrasping [Sundsang, Phoka: ICRA ’03, Session WP9]
Some advantages:
contact need not be maintained during manipulation
no reliance on any particular model of friction
tolerance of uncertainty
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
13. 13
Related Work
Fixturing: [Gopal, Goldberg et al., ICRA 2002]
(quality of grasp = 1 / amount of wiggle room)
Manipulating algebraic parts in the plane [Rao,
Goldberg—ITRA ’95]
Graspless manipulation [Lynch—ICRA ’97; Lynch ’96]
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
14. 14
Previous Work
Maximum Independent Capture Discs (MICaDs)
[Sudsang, Ponce—ICRA ’98 and IEEE Trans. Rob. Autom.
2002]:
associate each robot with a fixed edge of the object
(the object is a triangle);
starting from an immobilizing configuration, compute
the maximum distance that one robot can travel while
keeping object captured
compute three maximum discs representing triples of
capturing configurations
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
15. 15
Previous Work
Capturing a concave polygon with two robots [Sudsang,
Luewirawong—ICRA 2003]
Caging planar bodies with one-parameter two-fingered
systems [Rimon, Blake—IJRR 2000]
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
16. 16
Some Assumptions
b
a
P
c
Without loss of generality
robot is at the origin
robot is on the positive -axis
, , and are labeled in clockwise order
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
17. 17
Simplifi cations for this Talk
b
a
P
c
is a polygon
Robots have zero radius (points)
All definitions still apply when and the robots are arbitrary
convex objects.
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
18. 18
Canonical Motion of
b
a
c
turns (counter)clockwise keeping in contact with and .
One of three things happens
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
19. 19
Canonical Motion of
b
a
b
a
c
c
(i) achieves an escape angle in which it escapes by pure translation
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
20. 20
Canonical Motion of
b
a
b
a
c
c
(ii) is blocked from turning further by (a triple contact)
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
21. 21
Canonical Motion of
a b
P
c
(iii) turns all the way around without being able to escape
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
22. 22
Main Lemma
Lemma: If can escape by any rigid motion, then can
escape by canonical motion.
Contra-positive: If cannot escape by canonical motion,
then cannot escape at all.
If can escape through , then in a preprocessing step we
compute the first escape angle such that in orientation
can escape through .
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
23. 23
Capture Region
the set of all positions of that prevent from escaping
We will concentrate on CCW-escape and computing
henceforth.
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
24. 24
Confi guration Space
is the position of and
is the orientation of
Without loss of generality, the initial orientation is .
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
25. 25
A -Slice of Confi guration Space
B*
A* θ
θ
b
a
Pθ
c
,
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
26. 26
Preventing Escape by Pure Translation
B*
A* θ
θ
b
a
Pθ
c
in orientation can escape by pure translation in one of
three ways:
Escape through : if int (equiv., int )
Escape through : if int
Escape through : if int
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
27. 27
A View of Confi guration Space
B*
A*
P*
+θ
, ,
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
28. 28
Visibility Problem
Consider a fixed position of robot
Let be the ray with origin at pointing in the -direction
(upwards).
What does intersect first?
Let be the value of where the first intersection of
occurs.
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
29. 29
Visibility Problem
If , then is not captured; otherwise, intersects one
of the following:
case : blocks in orientation from turning further,
i.e., is captured!
case : int and can escape through
case : int and can escape through
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
30. 30
Exact Algorithm
is the projection of the lower envelope of , , and .
is the projection of the upper envelope of , , and .
We can compute the capture region in
polynomial time.
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
31. 31
Approximate Algorithm
Compute the capture region restricted to a grid (a discrete
approximation with any desired accuracy).
Compute polyhedral approximations of , , and .
Render each with a -buffer using orientation as the depth.
The grid points where is visible constitute the
approximate capture region (and similarly for ).
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
32. 32
Approximate Capture Region: , ,
a b
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
33. 33
Approximate Capture Region: , ,
a b
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
34. 34
Approximate Capture Region: , ,
a b
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
35. 35
Conclusion
We characterized the capture region of a three robot that
capture a convex object in the plane in conjunction with two
fixed robots.
Reduced to a visibility problem in configuration space .
Computed the exact capture region in polynomial time.
Used graphics hardware ( -buffer) to compute a discrete
approximation quickly.
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
36. 36
Directions for Future Work
Capturing non-convex objects or linkages of convex objects
(canonical motion? two robots suffice?) [Sudsang,
Luewirawong—ICRA 2003]
Integrating the computation of the capture region into
algorithms for grasping, manipulation, and motion planning
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
37. 37
Thanks
Steve LaValle, Svetlana Lazebnik, and others
NSF grants IRI-9907009, CCR-0093348, and CCR-0219594
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
39. Appendix A: Exact Algorithm 39
Exact Algorithm
The boundary of is a piecewise-smooth collection of
algebraic surface patches of constant degree with no
self-intersections.
The number of patches (number of critical orientations) is
.
The critical orientations can be computed in time
by a rotating calipers algorithm.
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
40. Appendix A: Exact Algorithm 40
Exact Algorithm
Project boundary curves and silhouette curves of each of the
surface patches on to the plane.
Compute the arrangement of these curves with
cells.
The capture region is the union of cells in this cell
decomposition.
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
41. Appendix A: Exact Algorithm 41
Exact Algorithm
Compute a cylindrical decomposition of the volume between
the lower envelope of the patches above and the upper
envelope of patches below .
The intersection of each cylinder is the union of cells in the
cell decomposition—all these cells are marked once if the
object immediately above is either and marked again if
the object immediately below is .
The capture region is the union of twice-marked cells.
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
43. Appendix B: First-Order Configuration Space 43
Confi guration Space
is the position and is the orientation of
Without loss of generality, the initial orientation is .
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
44. Appendix B: First-Order Configuration Space 44
First-Order Obstacles
Fix the position of .
A B
p
C
, ,
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45. Appendix B: First-Order Configuration Space 45
Escape by Pure Translation
in orientation can escape by pure translation in one of
three ways:
Escape through : if
Escape through : if
Escape through : if
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
46. Appendix B: First-Order Configuration Space 46
Escape by Pure Translation
b
a
b
b a
a
b b
a a
c
c
c
c
c
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
47. Appendix B: First-Order Configuration Space 47
Valid Confi gurations
, ,
Invalid region = int int int
Space of valid configurations
int and int and int
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48. Appendix B: First-Order Configuration Space 48
Structure of Valid Space
Every rigid motion of that does not intersect any robot
corresponds to a path in valid space.
is captured if and only if the component of valid space
containing the initial configuration is compact (closed and
bounded).
If can escape, then there exists a such that in
orientation can escape by pure translation.
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
49. Appendix B: First-Order Configuration Space 49
Escape Orientation
Necessary and sufficient condition for escape: some pair of
obstacles do not intersect, i.e., either
1. , or
2. , or
3.
(Counterclockwise) Escape angle =
, or , or
(If CCW escape is not possible, then .)
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
50. Appendix B: First-Order Configuration Space 50
Canonical Motion Revisited
Canonical motion of is motion along .
Triple contact:
Initial configuration is valid, i.e., .
Counterclockwise escape angle:
, or , or
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu
51. Appendix B: First-Order Configuration Space 51
Relation between Two Confi guration Spaces
A B
B*
A* θ
θ
b
a
p
Pθ
C c
(equiv., )
Capturing a Convex Object with Three Discs Shripad Thite thite@uiuc.edu